undirbúningur falla fyrir can samskipti og prófun með lyklaborði

include/p_controller.h

@@ -5,21 +5,27 @@ class P_controller
 {
 protected:
     double Kp;
+    double default_Kp;  // Gildið úr constructornum, notað af restore_defaults()
 
 public:
     P_controller(double Kp);
     virtual ~P_controller() {}
     virtual double update(double ref, double actual);
     virtual void reset() {}
+    virtual void restore_defaults(); //
+    virtual double get_Kp() const { return Kp; }
+    virtual double get_Ti() const { return 0.0; }
 
     virtual void set_Kp(double value)
     {
         Kp = value;
     }
 
-    virtual void set_Ti(double value)
+    virtual bool set_Ti(double value)
     {
         // P controller does not use Ti
+        (void)value;
+        return true;
     }
 };